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Added Rogue 2019/Leaf 2019 fingerprints (#1605) 

* Added Rogue 2019/Leaf 2019 fingerprints

* Added Rogue as new car. Updated readme

* Added route to test_car_models.py. Fixed if statements to check against rogue/x-trail

* Fixed paste error

* Merged Leaf fingerprints

* Assume Rogue is MPH until we work out the mph/kph bit
pull/1609/head
Andre Volmensky 2020-05-31 12:25:32 +09:00 committed by GitHub
parent d9bf9f0a40
commit 9fc826cb5c
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6 changed files with 24 additions and 10 deletions
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3
README.md
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@ -153,7 +153,8 @@ Community Maintained Cars and Features
| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Leaf 2018<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2018-20 | EyeSight | Stock | 0mph | 0mph |

2
selfdrive/car/nissan/carcontroller.py
View File

@ -65,7 +65,7 @@ class CarController():
# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
cruise_cancel = 1
if self.CP.carFingerprint == CAR.XTRAIL and cruise_cancel:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL] and cruise_cancel:
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, CS.cruise_throttle_msg, frame))
# TODO: Find better way to cancel!

14
selfdrive/car/nissan/carstate.py
View File

@ -17,19 +17,19 @@ class CarState(CarStateBase):
def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message()
if self.CP.carFingerprint == CAR.XTRAIL:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint == CAR.LEAF:
ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas > 3)
if self.CP.carFingerprint == CAR.XTRAIL:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
elif self.CP.carFingerprint == CAR.LEAF:
ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
if self.CP.carFingerprint == CAR.XTRAIL:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
@ -43,7 +43,7 @@ class CarState(CarStateBase):
ret.standstill = ret.vEgoRaw < 0.01
ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
if self.CP.carFingerprint == CAR.XTRAIL:
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
elif self.CP.carFingerprint == CAR.LEAF:
ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
@ -54,6 +54,8 @@ class CarState(CarStateBase):
if speed != 255:
if self.CP.carFingerprint == CAR.XTRAIL:
conversion = CV.KPH_TO_MS
elif self.CP.carFingerprint == CAR.ROGUE:
conversion = CV.MPH_TO_MS
else:
conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
speed -= 1 # Speed on HUD is always 1 lower than actually sent on can bus
@ -129,7 +131,7 @@ class CarState(CarStateBase):
("DOORS_LIGHTS", 10),
]
if CP.carFingerprint == CAR.XTRAIL:
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
@ -271,7 +273,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = []
if CP.carFingerprint == CAR.XTRAIL:
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
]

2
selfdrive/car/nissan/interface.py
View File

@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
if candidate == CAR.XTRAIL:
if candidate in [CAR.ROGUE, CAR.XTRAIL]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44

9
selfdrive/car/nissan/values.py
View File

@ -5,6 +5,7 @@ STEER_THRESHOLD = 1.0
class CAR:
XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018"
ROGUE = "NISSAN ROGUE 2019"
FINGERPRINTS = {
@ -18,12 +19,18 @@ FINGERPRINTS = {
],
CAR.LEAF: [
{
2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8
2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
},
],
CAR.ROGUE: [
{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1821: 8, 1823: 8, 1837: 8, 1839: 8
},
]
}
DBC = {
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
}

4
selfdrive/test/test_car_models.py
View File

@ -367,6 +367,10 @@ routes = {
'carFingerprint': MAZDA.CX5,
'enableCamera': True,
},
"059ab9162e23198e|2020-05-30--09-41-01": {
'carFingerprint': NISSAN.ROGUE,
'enableCamera': True,
},
}
passive_routes: List[str] = [